diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
index c78c8d6..147cfc3 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
@@ -275,7 +275,7 @@ public class NDCAgvServiceImpl implements NDCAgvService {
                 (byte) 0X00, (byte) 0X6D,
                 (byte) 0X00, (byte) 0X06,
                 (byte) indexhigh, (byte) indexlow,
-                (byte) 0X01, (byte) 0X10,
+                (byte) 0X01, (byte) 0X12,
                 (byte) phasehigh, (byte) phaselow
         };
 
@@ -368,7 +368,7 @@ public class NDCAgvServiceImpl implements NDCAgvService {
             log.info("下发AGV充电任务--{}", str1);
 
             try {
-//                OneNDCSocketConnectionAutoRun.write(b);
+                TwoNDCSocketConnectionAutoRun.write(b);
             } catch (Exception e) {
                 log.error("下发充电任务失败{}{}", e, e.getMessage());
             }
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java
index 619a786..0067622 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java
@@ -17,6 +17,7 @@ import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
 import org.nl.acs.log.service.DeviceExecuteLogService;
 import org.nl.acs.opc.DeviceAppService;
+import org.nl.common.exception.BadRequestException;
 import org.nl.config.SpringContextHolder;
 import org.nl.config.lucene.service.LuceneExecuteLogService;
 import org.nl.config.lucene.service.dto.LuceneLogDto;
@@ -162,7 +163,7 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                         //任务号
                         int ikey = arr[26] * 256 + arr[27];
                         //站点号
-                        int agvaddr = arr[18] * 256 + arr[19];
+                        int agvaddr = arr[24] * 256 + arr[25];
                         //车号
                         int carno = arr[20];
                         //充电桩站点号
@@ -406,6 +407,7 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                 dos.flush();
             } catch (Exception e1) {
                 e1.printStackTrace();
+                throw new BadRequestException("下发数据失败:" + e.getMessage());
             }
 
         }
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
index d2269ef..10cb2f0 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
@@ -42,7 +42,7 @@ import org.nl.system.service.param.ISysParamService;
 import org.nl.config.SpringContextHolder;
 
 import java.time.LocalTime;
-import java.util.Map;
+import java.util.*;
 
 
 /**
@@ -107,7 +107,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
          */
         int ikey = arr[26] * 256 + arr[27];
         //站点号
-        agvaddr = arr[18] * 256 + arr[19];
+        agvaddr = arr[24] * 256 + arr[25];
         //车号
         int carno = arr[20];
         Instruction inst = null;
@@ -231,11 +231,20 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 standardOrdinarySiteDeviceDriver.setOption(0);
             } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
                 standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
-                if (standardInspectSiteDeviceDriver.getMove() != 0) {
+                boolean flag = Optional.ofNullable(standardInspectSiteDeviceDriver.getExtraValue().get("ignore_pickup_check")).map(Object::toString).map(Boolean::parseBoolean).orElse(false);
+                if (standardInspectSiteDeviceDriver.getMove() != 0 && !flag) {
                     data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
                     LuceneLogDto logDto = LuceneLogDto.builder()
                             .device_code(this.getDeviceCode())
-                            .content("agvphase:" + phase + "反馈:" + data)
+                            .content("AGV到达取货点1,反馈:" + data)
+                            .build();
+                    logDto.setLog_level(4);
+                    luceneExecuteLogService.deviceExecuteLog(logDto);
+                } else if (flag) {
+                    data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
+                    LuceneLogDto logDto = LuceneLogDto.builder()
+                            .device_code(this.getDeviceCode())
+                            .content("AGV到达取货点1,反馈:" + data)
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
@@ -320,23 +329,27 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 standardOrdinarySiteDeviceDriver.setIndex(index);
                 standardOrdinarySiteDeviceDriver.setInst(inst);
             } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
-                standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
-                if (standardInspectSiteDeviceDriver.getMove() == 0 && standardInspectSiteDeviceDriver.getMode() > 0) {
-                    data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
-                    LuceneLogDto logDto = LuceneLogDto.builder()
-                            .device_code(this.getDeviceCode())
-                            .content("agvphase:" + phase + "反馈:" + data)
-                            .build();
-                    logDto.setLog_level(4);
-                    luceneExecuteLogService.deviceExecuteLog(logDto);
-                } else {
-                    LuceneLogDto logDto = LuceneLogDto.builder()
-                            .device_code(this.getDeviceCode())
-                            .content("设备:" + device.getDevice_code() + "光电信号为" + standardInspectSiteDeviceDriver.getMove() + "工作模式为" + standardInspectSiteDeviceDriver.getMode() + ", 取货完成不允许离开")
-                            .build();
-                    logDto.setLog_level(4);
-                    luceneExecuteLogService.deviceExecuteLog(logDto);
-                }
+//                standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
+//                Map<String, Object> map = new HashMap<>();
+//                map.put("to_command", 100);
+//                try {
+//                    standardInspectSiteDeviceDriver.writing(map);
+//                } catch (Exception e) {
+//                    LuceneLogDto logDto = LuceneLogDto.builder()
+//                            .device_code(this.getDeviceCode())
+//                            .content("AGV取货点1取货完成反馈失败,失败原因：" + e.getMessage())
+//                            .build();
+//                    logDto.setLog_level(4);
+//                    luceneExecuteLogService.deviceExecuteLog(logDto);
+//                    return;
+//                }
+                data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
+                LuceneLogDto logDto = LuceneLogDto.builder()
+                        .device_code(this.getDeviceCode())
+                        .content("AGV取货点1取货完成,反馈:" + data)
+                        .build();
+                logDto.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto);
             } else {
                 data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
                 LuceneLogDto logDto = LuceneLogDto.builder()
@@ -404,7 +417,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
                     LuceneLogDto logDto = LuceneLogDto.builder()
                             .device_code(this.getDeviceCode())
-                            .content("agvphase:" + phase + "反馈:" + data)
+                            .content("AGV到达放货点1反馈:" + data)
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
@@ -479,23 +492,33 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 standardOrdinarySiteDeviceDriver.setIndex(index);
                 standardOrdinarySiteDeviceDriver.setInst(inst);
             } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
-                standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
-                if (standardInspectSiteDeviceDriver.getMove() != 0) {
-                    data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
-                    LuceneLogDto logDto = LuceneLogDto.builder()
-                            .device_code(this.getDeviceCode())
-                            .content("agvphase:" + phase + "反馈:" + data)
-                            .build();
-                    logDto.setLog_level(4);
-                    luceneExecuteLogService.deviceExecuteLog(logDto);
-                } else {
-                    LuceneLogDto logDto = LuceneLogDto.builder()
-                            .device_code(this.getDeviceCode())
-                            .content("设备:" + device.getDevice_code() + "光电信号为" + standardInspectSiteDeviceDriver.getMove() + ", 放货完成不允许离开")
-                            .build();
-                    logDto.setLog_level(4);
-                    luceneExecuteLogService.deviceExecuteLog(logDto);
+                if (StrUtil.isEmpty(inst.getStart_device_code2())) {
+                    Device start_device = deviceAppService.findDeviceByCode(inst.getStart_device_code());
+                    if (start_device != null && start_device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver){
+                        //如果是两点任务 当AGV放货完成的时候，给起点反馈放货完成
+                        StandardInspectSiteDeviceDriver start_standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) start_device.getDeviceDriver();
+                        Map<String, Object> map = new HashMap<>();
+                        map.put("to_command", 100);
+                        try {
+                            start_standardInspectSiteDeviceDriver.writing(map);
+                        } catch (Exception e) {
+                            LuceneLogDto logDto = LuceneLogDto.builder()
+                                    .device_code(this.getDeviceCode())
+                                    .content("AGV取货点1放货完成反馈失败,失败原因：" + e.getMessage())
+                                    .build();
+                            logDto.setLog_level(4);
+                            luceneExecuteLogService.deviceExecuteLog(logDto);
+                            return;
+                        }
+                    }
                 }
+                data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
+                LuceneLogDto logDto = LuceneLogDto.builder()
+                        .device_code(this.getDeviceCode())
+                        .content("AGV放货点1放货完成反馈:" + data)
+                        .build();
+                logDto.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto);
             } else {
                 data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
                 LuceneLogDto logDto = LuceneLogDto.builder()
@@ -564,11 +587,20 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 standardOrdinarySiteDeviceDriver.setOption(0);
             } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
                 standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
-                if (standardInspectSiteDeviceDriver.getMove() != 0) {
+                boolean flag = Optional.ofNullable(standardInspectSiteDeviceDriver.getExtraValue().get("ignore_pickup_check")).map(Object::toString).map(Boolean::parseBoolean).orElse(false);
+                if (standardInspectSiteDeviceDriver.getMove() != 0 && !flag) {
                     data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
                     LuceneLogDto logDto = LuceneLogDto.builder()
                             .device_code(this.getDeviceCode())
-                            .content("agvphase:" + phase + "反馈:" + data)
+                            .content("AGV到达取货点2反馈:" + data)
+                            .build();
+                    logDto.setLog_level(4);
+                    luceneExecuteLogService.deviceExecuteLog(logDto);
+                } else if (flag) {
+                    data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
+                    LuceneLogDto logDto = LuceneLogDto.builder()
+                            .device_code(this.getDeviceCode())
+                            .content("AGV到达取货点2反馈:" + data)
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
@@ -652,23 +684,14 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 standardOrdinarySiteDeviceDriver.setIndex(index);
                 standardOrdinarySiteDeviceDriver.setInst(inst);
             } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
-                standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
-                if (standardInspectSiteDeviceDriver.getMove() == 0 && standardInspectSiteDeviceDriver.getMode() > 0) {
-                    data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
-                    LuceneLogDto logDto = LuceneLogDto.builder()
-                            .device_code(this.getDeviceCode())
-                            .content("agvphase:" + phase + "反馈:" + data)
-                            .build();
-                    logDto.setLog_level(4);
-                    luceneExecuteLogService.deviceExecuteLog(logDto);
-                } else {
-                    LuceneLogDto logDto = LuceneLogDto.builder()
-                            .device_code(this.getDeviceCode())
-                            .content("设备:" + device.getDevice_code() + "光电信号为" + standardInspectSiteDeviceDriver.getMove() + "工作模式为" + standardInspectSiteDeviceDriver.getMode() + ", 取货完毕,不允许离开")
-                            .build();
-                    logDto.setLog_level(4);
-                    luceneExecuteLogService.deviceExecuteLog(logDto);
-                }
+                data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
+                LuceneLogDto logDto = LuceneLogDto.builder()
+                        .device_code(this.getDeviceCode())
+                        .content("AGV取货点2取货完成反馈:" + data)
+                        .build();
+                logDto.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto);
+
             } else {
                 data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
                 LuceneLogDto logDto = LuceneLogDto.builder()
@@ -735,7 +758,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
                     LuceneLogDto logDto = LuceneLogDto.builder()
                             .device_code(this.getDeviceCode())
-                            .content("agvphase:" + phase + "反馈:" + data)
+                            .content("AGV到达放货点2反馈:" + data)
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
@@ -806,25 +829,32 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 logDto.setLog_level(4);
                 luceneExecuteLogService.deviceExecuteLog(logDto);
                 standardOrdinarySiteDeviceDriver.setOption(0);
-
             } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
-                standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
-                if (standardInspectSiteDeviceDriver.getMove() != 0) {
-                    data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
-                    LuceneLogDto logDto = LuceneLogDto.builder()
-                            .device_code(this.getDeviceCode())
-                            .content("agvphase:" + phase + "反馈:" + data)
-                            .build();
-                    logDto.setLog_level(4);
-                    luceneExecuteLogService.deviceExecuteLog(logDto);
-                } else {
-                    LuceneLogDto logDto = LuceneLogDto.builder()
-                            .device_code(this.getDeviceCode())
-                            .content("设备:" + device.getDevice_code() + "光电信号为" + standardInspectSiteDeviceDriver.getMove() + ", 放货完成不允许离开")
-                            .build();
-                    logDto.setLog_level(4);
-                    luceneExecuteLogService.deviceExecuteLog(logDto);
+                Device start_device = deviceAppService.findDeviceByCode(inst.getStart_device_code());
+                if (start_device != null && start_device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver){
+                    //如果是两点任务 当AGV放货完成的时候，给起点反馈放货完成
+                    StandardInspectSiteDeviceDriver start_standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) start_device.getDeviceDriver();
+                    Map<String, Object> map = new HashMap<>();
+                    map.put("to_command", 100);
+                    try {
+                        start_standardInspectSiteDeviceDriver.writing(map);
+                    } catch (Exception e) {
+                        LuceneLogDto logDto = LuceneLogDto.builder()
+                                .device_code(this.getDeviceCode())
+                                .content("AGV取货点1放货完成反馈失败,失败原因：" + e.getMessage())
+                                .build();
+                        logDto.setLog_level(4);
+                        luceneExecuteLogService.deviceExecuteLog(logDto);
+                        return;
+                    }
                 }
+                data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
+                LuceneLogDto logDto = LuceneLogDto.builder()
+                        .device_code(this.getDeviceCode())
+                        .content("AGV放货点2放货完成反馈:" + data)
+                        .build();
+                logDto.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto);
             } else {
                 data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
                 LuceneLogDto logDto = LuceneLogDto.builder()
@@ -879,49 +909,43 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     .build();
             logDto.setLog_level(4);
             luceneExecuteLogService.deviceExecuteLog(logDto);
-            //自动充电的车号
-            String is_atuo_car = ISysParamService.findByCode(AcsConfig.IS_ATUO_CAR).getValue();
             //当前上报的车号
-            String now_car = String.valueOf(this.agvaddr);
-            //如果配置的车号是诺宝车号
-            if (now_car.equals(is_atuo_car)) {
-                //是否开启自动充电
-                String is_atuo_electric = ISysParamService.findByCode(AcsConfig.IS_ATUO_ELECTRIC).getValue();
-                log.info("接收agv上报信息,is_atuo_electric：" + is_atuo_electric);
-                if ("1".equals(is_atuo_electric)) {
-                    String electric_begin = ISysParamService.findByCode(AcsConfig.ELECTRIC_BEGIN).getValue();
-                    String[] begins = electric_begin.split(":");
-                    String electric_end = ISysParamService.findByCode(AcsConfig.ELECTRIC_END).getValue();
-                    String[] ends = electric_end.split(":");
-                    // 定义时间段
-                    LocalTime startTime = LocalTime.of(Integer.parseInt(begins[0]), Integer.parseInt(begins[1])); // 上午8点
-                    LocalTime endTime = LocalTime.of(Integer.parseInt(ends[0]), Integer.parseInt(ends[1])); // 晚上22点
-                    // 获取当前时间
-                    LocalTime now = LocalTime.now();
-                    // 判断当前时间是否在时间段内
-                    boolean isInRange = !now.isBefore(startTime) && !now.isAfter(endTime);
-                    int electric = 0;
-                    //早上8-22点
-                    if (isInRange) {
-                        electric = Integer.parseInt(ISysParamService.findByCode(AcsConfig.ELECTRIC).getValue());
+            //是否开启自动充电
+            String is_atuo_electric = ISysParamService.findByCode(AcsConfig.IS_ATUO_ELECTRIC).getValue();
+            log.info("接收agv上报信息,is_atuo_electric：" + is_atuo_electric);
+            if ("1".equals(is_atuo_electric)) {
+                String electric_begin = ISysParamService.findByCode(AcsConfig.ELECTRIC_BEGIN).getValue();
+                String[] begins = electric_begin.split(":");
+                String electric_end = ISysParamService.findByCode(AcsConfig.ELECTRIC_END).getValue();
+                String[] ends = electric_end.split(":");
+                // 定义时间段
+                LocalTime startTime = LocalTime.of(Integer.parseInt(begins[0]), Integer.parseInt(begins[1])); // 上午8点
+                LocalTime endTime = LocalTime.of(Integer.parseInt(ends[0]), Integer.parseInt(ends[1])); // 晚上22点
+                // 获取当前时间
+                LocalTime now = LocalTime.now();
+                // 判断当前时间是否在时间段内
+                boolean isInRange = !now.isBefore(startTime) && !now.isAfter(endTime);
+                int electric = 0;
+                //早上8-22点
+                if (isInRange) {
+                    electric = Integer.parseInt(ISysParamService.findByCode(AcsConfig.ELECTRIC).getValue());
+                } else {
+                    electric = Integer.parseInt(ISysParamService.findByCode(AcsConfig.ELECTRIC2).getValue());
+                }
+                if (electric_qty > 0 && electric_qty < electric) {
+                    log.info("当前车辆{}电量为{}低于{}，开始判断是否需要充电!", this.agvaddr, electric_qty, electric);
+                    //判断是否已下发充电任务
+                    Dict dict1 = dictService.getDictByName3("station", String.valueOf(this.agvaddr), null);
+                    if (ObjectUtil.isNotEmpty(dict1)) {
+                        log.info("当前车辆{}已分配充电桩{}，退出后续判断", this.agvaddr, dict1.getPara1());
                     } else {
-                        electric = Integer.parseInt(ISysParamService.findByCode(AcsConfig.ELECTRIC2).getValue());
-                    }
-                    if (electric_qty > 0 && electric_qty < electric) {
-                        log.info("当前车辆{}电量为{}低于{}，开始判断是否需要充电!", this.agvaddr, electric_qty, electric);
-                        //判断是否已下发充电任务
-                        Dict dict1 = dictService.getDictByName3("station", String.valueOf(this.agvaddr), null);
-                        if (ObjectUtil.isNotEmpty(dict1)) {
-                            log.info("当前车辆{}已分配充电桩{}，退出后续判断", this.agvaddr, dict1.getPara1());
+                        //未下发，判断是否有空闲充电桩
+                        Dict dict = dictService.getDictByName2("station");
+                        if (ObjectUtil.isNotEmpty(dict)) {
+                            ndcAgvService.charge(String.valueOf(this.agvaddr));
+                            isCharge = true;
                         } else {
-                            //未下发，判断是否有空闲充电桩
-                            Dict dict = dictService.getDictByName2("station");
-                            if (ObjectUtil.isNotEmpty(dict)) {
-                                ndcAgvService.charge(String.valueOf(this.agvaddr));
-                                isCharge = true;
-                            } else {
-                                log.info("当前车辆{}电量为{}低于{}，但无空闲充电桩!", this.agvaddr, electric_qty, electric);
-                            }
+                            log.info("当前车辆{}电量为{}低于{}，但无空闲充电桩!", this.agvaddr, electric_qty, electric);
                         }
                     }
                 }
@@ -1005,9 +1029,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     .build();
             logDto.setLog_level(4);
             luceneExecuteLogService.deviceExecuteLog(logDto);
-            if (StrUtil.equals(inst.getAgv_system_type(), "2")) {
-                TwoNDCSocketConnectionAutoRun.write(data);
-            }
+            TwoNDCSocketConnectionAutoRun.write(data);
         }
 
     }
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_inspect_site/ItemProtocol.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_inspect_site/ItemProtocol.java
index f06b8f4..174900d 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_inspect_site/ItemProtocol.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_inspect_site/ItemProtocol.java
@@ -46,7 +46,7 @@ public class ItemProtocol {
             setIsonline(true);
             return value;
         }
-        return 0;
+        return -1;
     }
 
     public static List<ItemDto> getReadableItemDtos() {
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_inspect_site/StandardInspectSiteDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_inspect_site/StandardInspectSiteDeviceDriver.java
index c645b97..c261f3f 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_inspect_site/StandardInspectSiteDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_inspect_site/StandardInspectSiteDeviceDriver.java
@@ -18,6 +18,7 @@ import org.nl.acs.task.enums.AgvSystemTypeEnum;
 import org.nl.acs.task.enums.TaskTypeEnum;
 import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
+import org.nl.common.exception.BadRequestException;
 import org.nl.config.SpringContextHolder;
 import org.nl.config.lucene.service.LuceneExecuteLogService;
 import org.nl.config.lucene.service.dto.LuceneLogDto;
@@ -114,7 +115,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
                 luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
                         .device_code(device_code)
                         .log_level(4)
-                        .content("信号: move由" + this.last_mode + "->" + this.mode)
+                        .content("信号: move由" + this.last_move + "->" + this.move)
                         .build());
             }
 
@@ -122,7 +123,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
                 luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
                         .device_code(device_code)
                         .log_level(4)
-                        .content("信号: mix_code由" + this.last_mode + "->" + this.mode)
+                        .content("信号: mix_code由" + this.last_mix_code + "->" + this.mix_code)
                         .build());
             }
 
@@ -211,10 +212,17 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
             instructionService.cancelInstAndTaskByDeviceCode(this.device_code);
         } catch (Exception e) {
             this.message = "取消指令和任务时出现异常";
+            Map<String, Object> map = new HashMap<>();
+            map.put("to_command", 400);
+            this.writing(map);
+            try {
+                Thread.sleep(3000);
+            } catch (InterruptedException ex) {
+            }
             return;
         }
         Map<String, Object> map = new HashMap<>();
-        map.put("to_command", 200);
+        map.put("to_command", 300);
         this.writing(map);
         this.requireSuccess = true;
     }
@@ -252,7 +260,16 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
             taskService.create(taskDto);
         } catch (Exception e) {
             this.message = "创建任务时出现异常";
-            return;
+            LuceneLogDto logDto = LuceneLogDto.builder()
+                    .device_code(device_code)
+                    .content(this.device_code + "创建任务异常:" + Arrays.toString(e.getStackTrace()))
+                    .build();
+            logDto.setLog_level(4);
+            luceneExecuteLogService.deviceExecuteLog(logDto);
+            try {
+                Thread.sleep(3000);
+            } catch (InterruptedException ex) {
+            }
         }
         Map<String, Object> map = new HashMap<>();
         map.put("to_command", 200);
@@ -275,7 +292,16 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
             taskService.create(taskDto);
         } catch (Exception e) {
             this.message = "创建任务时出现异常";
-            return;
+            LuceneLogDto logDto = LuceneLogDto.builder()
+                    .device_code(device_code)
+                    .content(this.device_code + "创建任务异常:" + Arrays.toString(e.getStackTrace()))
+                    .build();
+            logDto.setLog_level(4);
+            luceneExecuteLogService.deviceExecuteLog(logDto);
+            try {
+                Thread.sleep(3000);
+            } catch (InterruptedException ex) {
+            }
         }
         Map<String, Object> map = new HashMap<>();
         map.put("to_command", 200);
@@ -289,31 +315,40 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
     private void createXLKBKTask() {
         List<String> cxBkDeviceList = this.getExtraDeviceCodes("cxBkDeviceList");
         if (CollectionUtils.isEmpty(cxBkDeviceList)) {
-            this.message = "未配置产线补空设备";
+            this.message = "未配置产线补空终点设备设备";
             return;
         }
-        String startDeviceCode = null;
+        String nextDeviceCode = null;
         for (int i = 0; i < cxBkDeviceList.size(); i++) {
             String cxBkDeviceCode = cxBkDeviceList.get(i);
             Device cxBkDevice = deviceAppService.findDeviceByCode(cxBkDeviceCode);
             if (cxBkDevice != null && cxBkDevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
                 StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) cxBkDevice.getDeviceDriver();
-                if (standardInspectSiteDeviceDriver.getMove() > 0) {
-                    startDeviceCode = cxBkDeviceCode;
+                if (standardInspectSiteDeviceDriver.getMove() == 0 && standardInspectSiteDeviceDriver.getMode() > 0) {
+                    nextDeviceCode = cxBkDeviceCode;
                     break;
                 }
             }
         }
-        if (startDeviceCode == null) {
+        if (nextDeviceCode == null) {
             this.message = "未找到符合条件的起点设备";
             return;
         }
-        TaskDto taskDto = this.packageTaskDto(TaskTypeEnum.TWO_AGV_Task.getIndex(), startDeviceCode, this.device_code);
+        TaskDto taskDto = this.packageTaskDto(TaskTypeEnum.TWO_AGV_Task.getIndex(), this.device_code, nextDeviceCode);
         try {
             taskService.create(taskDto);
         } catch (Exception e) {
             this.message = "创建任务时出现异常";
-            return;
+            LuceneLogDto logDto = LuceneLogDto.builder()
+                    .device_code(device_code)
+                    .content(this.device_code + "创建任务异常:" + Arrays.toString(e.getStackTrace()))
+                    .build();
+            logDto.setLog_level(4);
+            luceneExecuteLogService.deviceExecuteLog(logDto);
+            try {
+                Thread.sleep(3000);
+            } catch (InterruptedException ex) {
+            }
         }
         Map<String, Object> map = new HashMap<>();
         map.put("to_command", 200);
@@ -334,6 +369,15 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
         for (int i = 0; i < rgBkDeviceList.size(); i++) {
             String rgBkDeviceCode = rgBkDeviceList.get(i);
             Device rgBkDevice = deviceAppService.findDeviceByCode(rgBkDeviceCode);
+
+            TaskDto satrtTaskDto = taskService.findByStartCode(rgBkDeviceCode);
+            if (ObjectUtil.isNotEmpty(satrtTaskDto)) {
+                continue;
+            }
+            TaskDto endTaskDto = taskService.findByNextCode(this.device_code);
+            if (ObjectUtil.isNotEmpty(endTaskDto)) {
+                break;
+            }
             if (rgBkDevice != null && rgBkDevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
                 StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) rgBkDevice.getDeviceDriver();
                 if (standardInspectSiteDeviceDriver.getMove() > 0) {
@@ -348,6 +392,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
         }
         TaskDto taskDto = this.packageTaskDto(TaskTypeEnum.TWO_AGV_Task.getIndex(), startDeviceCode, this.device_code);
         try {
+            Thread.sleep(10000);
             taskService.create(taskDto);
         } catch (Exception e) {
             this.message = "创建任务时出现异常";
@@ -420,7 +465,16 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
             taskService.create(taskDto);
         } catch (Exception e) {
             this.message = "创建任务时出现异常";
-            return;
+            LuceneLogDto logDto = LuceneLogDto.builder()
+                    .device_code(device_code)
+                    .content(this.device_code + "创建任务异常:" + Arrays.toString(e.getStackTrace()))
+                    .build();
+            logDto.setLog_level(4);
+            luceneExecuteLogService.deviceExecuteLog(logDto);
+            try {
+                Thread.sleep(3000);
+            } catch (InterruptedException ex) {
+            }
         }
         Map<String, Object> map = new HashMap<>();
         map.put("to_command", 200);
@@ -473,10 +527,18 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
                 this.checkcontrol(itemMap);
             } catch (Exception e) {
                 this.message = "下发信号时出现异常";
-                luceneExecuteLogService.deviceExecuteLog(new LuceneLogDto(this.getDeviceCode(), "下发多个电气信号 " + itemMap + "失败, 原因: " + Arrays.toString(e.getStackTrace())));
-                return;
+                luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                        .device_code(device_code)
+                        .log_level(4)
+                        .content("下发信号:" + itemMap + "失败, 原因:" + e.getMessage())
+                        .build());
+                throw new BadRequestException(e.getMessage());
             }
-            luceneExecuteLogService.deviceExecuteLog(new LuceneLogDto(this.getDeviceCode(), "下发多个电气信号 " + itemMap + "成功"));
+            luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                    .device_code(device_code)
+                    .log_level(4)
+                    .content("下发信号:" + itemMap + "成功")
+                    .build());
         }
     }
 
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
index 63d157d..1043d73 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
@@ -461,7 +461,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
             }
             if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "2")) {
                 NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
-                ndcAgvService.sendAgvInstToNDC( dto);
+                ndcAgvService.sendAgvInstToNDC(dto);
             }
             //判断是否是仙工AGV
             if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "3")) {
@@ -636,18 +636,27 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
                         dto.setSend_status("1");
                     }
                 } else if (dto.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) {
-                    //一楼agv任务创建运单序列
-                    HttpResponse response = xiangGongAgvService.sendOrderSequencesToXZ(dto);
-                    if (ObjectUtils.isEmpty(response) || response.getStatus() != 200) {
-                        dto.setSend_status("2");
-                    } else {
+                    log.warn("下发AGV指令数据," + "指令号:" + dto.getInstruction_code() + ",AGV系统类型:" + dto.getAgv_system_type());
+                    try {
+                        ndcAgvService.sendAgvInstToNDC(dto);
                         dto.setSend_status("1");
+                    } catch (Exception e) {
+                        dto.setSend_status("2");
+                        dto.setRemark(e.getMessage());
+                        e.printStackTrace();
+                        log.warn("下发AGV指令异常:" + e);
+                        LuceneLogDto logDto1 = LuceneLogDto.builder()
+                                .device_code(start_device_code)
+                                .content("下发AGV指令异常")
+                                .build();
+                        logDto1.setLog_level(4);
+                        luceneExecuteLogService.deviceExecuteLog(logDto1);
                     }
                 } else if (dto.getAgv_system_type().equals(AgvSystemTypeEnum.Two_NDC_System_Type.getIndex())) {
                     NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
                     log.warn("下发AGV指令数据," + "指令号:" + dto.getInstruction_code() + ",AGV系统类型:" + dto.getAgv_system_type());
                     try {
-                        ndcAgvService.sendAgvInstToNDC( dto);
+                        ndcAgvService.sendAgvInstToNDC(dto);
                         dto.setSend_status("1");
                     } catch (Exception e) {
                         dto.setSend_status("2");
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
index 2265ec3..6bfc09d 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
@@ -1040,7 +1040,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         this.feedWmsTaskStatus(entity);
         //关闭仙工运单序列
         if (StrUtil.equals(task.getTask_type(), TaskTypeEnum.Standard_AGV_Task.getCode()) && (StrUtil.equals(task.getAgv_system_type(), AgvSystemTypeEnum.One_NDC_System_Type.getCode()) || StrUtil.equals(task.getAgv_system_type(), AgvSystemTypeEnum.XG_System_Type.getCode()))) {
-            this.markComplete(entity);
+            //this.markComplete(entity);
         }
     }
 
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java
index bb87be3..40d3a15 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java
@@ -48,7 +48,7 @@ public class AutoCreateInst {
      * 创建指令前需要判断是否条件具备：起始位置是否有货、目标位置是否有货
      */
     public void run() throws Exception {
-        log.info("自动生成指令"+DateUtil.now());
+        log.info("自动生成指令" + DateUtil.now());
         TaskService taskserver = SpringContextHolder.getBean(TaskService.class);
         InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
         RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineService.class);
@@ -115,7 +115,7 @@ public class AutoCreateInst {
             boolean flag = false;
             for (int m = 0; m < pathlist.size(); m++) {
                 if (pathlist.get(m).equals(start_device_code)) {
-                    if("1".equals(acsTask.getTask_type()) && !pathlist.get(m+1).equals(next_device_code)){
+                    if ("1".equals(acsTask.getTask_type()) && !pathlist.get(m + 1).equals(next_device_code)) {
                         flag = true;
                         break;
                     }
@@ -174,7 +174,7 @@ public class AutoCreateInst {
             instdto.setNext_height(next_height);
             instdto.setAgv_action_type(agvActionType);
             try {
-               instructionService.create(instdto);
+                instructionService.create(instdto);
             } catch (Exception e) {
                 acsTask.setRemark(e.getMessage());
                 taskserver.updateByCodeFromCache(acsTask);
@@ -186,11 +186,11 @@ public class AutoCreateInst {
                 luceneExecuteLogService.deviceExecuteLog(logDto);
                 continue;
             }
-                //创建指令后修改任务状态
-                acsTask.setTask_status(TaskStatusEnum.BUSY.getIndex());
-                acsTask.setUpdate_time(DateUtil.now());
-                acsTask.setRemark(" ");
-                taskserver.update(acsTask);
+            //创建指令后修改任务状态
+            acsTask.setTask_status(TaskStatusEnum.BUSY.getIndex());
+            acsTask.setUpdate_time(DateUtil.now());
+            acsTask.setRemark(" ");
+            taskserver.update(acsTask);
 
         }
     }